% use `texdoc biblatex` to get help
@www{zjuthesisrules,
    title = {浙江大学本科生毕业论文（设计）编写规则},
    author = {浙江大学本科生院},
    year = {2018},
    url = {http://bksy.zju.edu.cn/attachments/2018-01/01-1517384518-1149149.pdf},
}
@www{tikz,
    title = {tikz宏包},
    author = {Till Tantau},
    year = {2018},
    url = {https://sourceforge.net/projects/pgf/},
}
@www{zjuthesis,
    title = {浙江大学毕业设计/论文模板},
    author = {王子轩},
    year = {2019},
    url = {https://github.com/TheNetAdmin/zjuthesis},
}
@www{zjugradthesisrules,
    title = {浙江大学研究生学位论文编写规则},
    author = {浙江大学研究生院},
    year = {2008},
    url = {http://grs.zju.edu.cn/redir.php?catalog_id=10038&object_id=12877},
}

@inproceedings{isaac2021,
  title={Learning to walk in minutes using massively parallel deep reinforcement learning},
  author={Rudin, Nikita and Hoeller, David and Reist, Philipp and Hutter, Marco},
  booktitle={Conference on Robot Learning},
  pages={91--100},
  year={2022},
  organization={PMLR}
}

@inproceedings{zhang2020grasp,
  title={Grasp for stacking via deep reinforcement learning},
  author={Zhang, Junhao and Zhang, Wei and Song, Ran and Ma, Lin and Li, Yibin},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={2543--2549},
  year={2020},
  organization={IEEE}
}

@article{PPO,
  title={Proximal policy optimization algorithms},
  author={Schulman, John and Wolski, Filip and Dhariwal, Prafulla and Radford, Alec and Klimov, Oleg},
  journal={arXiv preprint arXiv:1707.06347},
  year={2017}
}

@article{radosavovic2024real,
  title={Real-world humanoid locomotion with reinforcement learning},
  author={Radosavovic, Ilija and Xiao, Tete and Zhang, Bike and Darrell, Trevor and Malik, Jitendra and Sreenath, Koushil},
  journal={Science Robotics},
  volume={9},
  number={89},
  pages={eadi9579},
  year={2024},
  publisher={American Association for the Advancement of Science}
}
 

@inproceedings{dreamwaq,
  title={Dreamwaq: Learning robust quadrupedal locomotion with implicit terrain imagination via deep reinforcement learning},
  author={Nahrendra, I Made Aswin and Yu, Byeongho and Myung, Hyun},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={5078--5084},
  year={2023},
  organization={IEEE}
}

@article{andrychowicz2020learning,
  title={Learning dexterous in-hand manipulation},
  author={Andrychowicz, OpenAI: Marcin and Baker, Bowen and Chociej, Maciek and Jozefowicz, Rafal and McGrew, Bob and Pachocki, Jakub and Petron, Arthur and Plappert, Matthias and Powell, Glenn and Ray, Alex and others},
  journal={The International Journal of Robotics Research},
  volume={39},
  number={1},
  pages={3--20},
  year={2020},
  publisher={SAGE Publications Sage UK: London, England}
}
@inproceedings{sugihara2002real,
  title={Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control},
  author={Sugihara, Tomomichi and Nakamura, Yoshihiko and Inoue, Hirochika},
  booktitle={Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No. 02CH37292)},
  volume={2},
  pages={1404--1409},
  year={2002},
  organization={IEEE}
}

@article{kato1981realization,
  title={REALIZATION OF THE QUASI DYNAMIC WALKING BY THE BIPED WALKING MACHINE.},
  author={Kato, T and Takanishi, A and Ishikawa, H and Kato, I},
  year={1981}
}

@article{tao2021gait,
  title={Gait optimization method for humanoid robots based on parallel comprehensive learning particle swarm optimizer algorithm},
  author={Tao, Chongben and Xue, Jie and Zhang, Zufeng and Cao, Feng and Li, Chunguang and Gao, Hanwen},
  journal={Frontiers in neurorobotics},
  volume={14},
  pages={600885},
  year={2021},
  publisher={Frontiers Media SA}
}


@inproceedings{huan2018stable,
  title={Stable gait optimization for small-sized humanoid robot using cfo},
  author={Huan, Tran Thien and Thy, Khuu Bach and Trung, Nguyen Ho Hieu and Anh, Ho Pham Huy},
  booktitle={2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
  pages={436--441},
  year={2018},
  organization={IEEE}
}

@article{choe2023seamless,
  title={Seamless reaction strategy for bipedal locomotion exploiting real-time nonlinear model predictive control},
  author={Choe, JongHun and Kim, Joon-Ha and Hong, Seungwoo and Lee, Jinoh and Park, Hae-Won},
  journal={IEEE Robotics and Automation Letters},
  volume={8},
  number={8},
  pages={5031--5038},
  year={2023},
  publisher={IEEE}
}

@article{ke2021control,
  title={Control of stepping downstairs for humanoid robot based on dynamic multi-objective optimization},
  author={Ke, Wende and Bai, Yan and Li, Huazhong and Chen, Ke and Yuan, Quande},
  journal={Concurrency and Computation: Practice and Experience},
  volume={33},
  number={5},
  pages={e5999},
  year={2021},
  publisher={Wiley Online Library}
}

@inproceedings{di2018dynamic,
  title={Dynamic locomotion in the mit cheetah 3 through convex model-predictive control},
  author={Di Carlo, Jared and Wensing, Patrick M and Katz, Benjamin and Bledt, Gerardo and Kim, Sangbae},
  booktitle={2018 IEEE/RSJ international conference on intelligent robots and systems (IROS)},
  pages={1--9},
  year={2018},
  organization={IEEE}
}

@article{ding2021representation,
  title={Representation-free model predictive control for dynamic motions in quadrupeds},
  author={Ding, Yanran and Pandala, Abhishek and Li, Chuanzheng and Shin, Young-Ha and Park, Hae-Won},
  journal={IEEE Transactions on Robotics},
  volume={37},
  number={4},
  pages={1154--1171},
  year={2021},
  publisher={IEEE}
}

@article{garcia2019convex,
  title={Convex optimization of the full centroidal dynamics for planning in multi-contact scenarios},
  author={Garcia, Gabriel and Griffin, Robert and Pratt, Jerry},
  journal={ResearchGate Preprint},
  year={2019}
}

@article{hooks2020alphred,
  title={Alphred: A multi-modal operations quadruped robot for package delivery applications},
  author={Hooks, Joshua and Ahn, Min Sung and Yu, Jeffrey and Zhang, Xiaoguang and Zhu, Taoyuanmin and Chae, Hosik and Hong, Dennis},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  number={4},
  pages={5409--5416},
  year={2020},
  publisher={IEEE}
}


@inproceedings{sentis2006whole,
  title={A whole-body control framework for humanoids operating in human environments},
  author={Sentis, Luis and Khatib, Oussama},
  booktitle={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
  pages={2641--2648},
  year={2006},
  organization={IEEE}
}

@article{moro2019whole,
  title={Whole-body control of humanoid robots},
  author={Moro, Federico L and Sentis, Luis},
  journal={Humanoid robotics: a reference},
  pages={1161--1183},
  year={2019},
  publisher={Springer Dordrecht}
}


@inproceedings{dai2014whole,
  title={Whole-body motion planning with centroidal dynamics and full kinematics},
  author={Dai, Hongkai and Valenzuela, Andr{\'e}s and Tedrake, Russ},
  booktitle={2014 IEEE-RAS International Conference on Humanoid Robots},
  pages={295--302},
  year={2014},
  organization={IEEE}
}

@inproceedings{farshidian2017real,
  title={Real-time motion planning of legged robots: A model predictive control approach},
  author={Farshidian, Farbod and Jelavic, Edo and Satapathy, Asutosh and Giftthaler, Markus and Buchli, Jonas},
  booktitle={2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)},
  pages={577--584},
  year={2017},
  organization={IEEE}
}

@inproceedings{grandia2019feedback,
  title={Feedback mpc for torque-controlled legged robots},
  author={Grandia, Ruben and Farshidian, Farbod and Ranftl, Ren{\'e} and Hutter, Marco},
  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4730--4737},
  year={2019},
  organization={IEEE}
}

@article{haarnoja2024learning,
  title={Learning agile soccer skills for a bipedal robot with deep reinforcement learning},
  author={Haarnoja, Tuomas and Moran, Ben and Lever, Guy and Huang, Sandy H and Tirumala, Dhruva and Humplik, Jan and Wulfmeier, Markus and Tunyasuvunakool, Saran and Siegel, Noah Y and Hafner, Roland and others},
  journal={Science Robotics},
  volume={9},
  number={89},
  pages={eadi8022},
  year={2024},
  publisher={American Association for the Advancement of Science}
}


@article{schmitt2018kickstarting,
  title={Kickstarting deep reinforcement learning},
  author={Schmitt, Simon and Hudson, Jonathan J and Zidek, Augustin and Osindero, Simon and Doersch, Carl and Czarnecki, Wojciech M and Leibo, Joel Z and Kuttler, Heinrich and Zisserman, Andrew and Simonyan, Karen and others},
  journal={arXiv preprint arXiv:1803.03835},
  year={2018}
}

@article{siekmann2020learning,
  title={Learning memory-based control for human-scale bipedal locomotion},
  author={Siekmann, Jonah and Valluri, Srikar and Dao, Jeremy and Bermillo, Lorenzo and Duan, Helei and Fern, Alan and Hurst, Jonathan},
  journal={arXiv preprint arXiv:2006.02402},
  year={2020}
}
@article{wang2022hybrid,
  title={Hybrid bipedal locomotion based on reinforcement learning and heuristics},
  author={Wang, Zhicheng and Wei, Wandi and Xie, Anhuan and Zhang, Yifeng and Wu, Jun and Zhu, Qiuguo},
  journal={Micromachines},
  volume={13},
  number={10},
  pages={1688},
  year={2022},
  publisher={MDPI}
}


@article{zhang2024wococo,
  title={Wococo: Learning whole-body humanoid control with sequential contacts},
  author={Zhang, Chong and Xiao, Wenli and He, Tairan and Shi, Guanya},
  journal={arXiv preprint arXiv:2406.06005},
  year={2024}
}


@article{he2024omnih2o,
  title={Omnih2o: Universal and dexterous human-to-humanoid whole-body teleoperation and learning},
  author={He, Tairan and Luo, Zhengyi and He, Xialin and Xiao, Wenli and Zhang, Chong and Zhang, Weinan and Kitani, Kris and Liu, Changliu and Shi, Guanya},
  journal={arXiv preprint arXiv:2406.08858},
  year={2024}
}

@inproceedings{krishna2021learning,
  title={Learning linear policies for robust bipedal locomotion on terrains with varying slopes},
  author={Krishna, Lokesh and Mishra, Utkarsh A and Castillo, Guillermo A and Hereid, Ayonga and Kolathaya, Shishir},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={5159--5164},
  year={2021},
  organization={IEEE}
}

@inproceedings{rodriguez2021deepwalk,
  title={DeepWalk: Omnidirectional bipedal gait by deep reinforcement learning},
  author={Rodriguez, Diego and Behnke, Sven},
  booktitle={2021 IEEE international conference on robotics and automation (ICRA)},
  pages={3033--3039},
  year={2021},
  organization={IEEE}
}


@article{siekmann2020learning,
  title={Learning memory-based control for human-scale bipedal locomotion},
  author={Siekmann, Jonah and Valluri, Srikar and Dao, Jeremy and Bermillo, Lorenzo and Duan, Helei and Fern, Alan and Hurst, Jonathan},
  journal={arXiv preprint arXiv:2006.02402},
  year={2020}
}

@article{haarnoja2024learning,
  title={Learning agile soccer skills for a bipedal robot with deep reinforcement learning},
  author={Haarnoja, Tuomas and Moran, Ben and Lever, Guy and Huang, Sandy H and Tirumala, Dhruva and Humplik, Jan and Wulfmeier, Markus and Tunyasuvunakool, Saran and Siegel, Noah Y and Hafner, Roland and others},
  journal={Science Robotics},
  volume={9},
  number={89},
  pages={eadi8022},
  year={2024},
  publisher={American Association for the Advancement of Science}
}

@article{fu2024humanplus,
  title={Humanplus: Humanoid shadowing and imitation from humans},
  author={Fu, Zipeng and Zhao, Qingqing and Wu, Qi and Wetzstein, Gordon and Finn, Chelsea},
  journal={arXiv preprint arXiv:2406.10454},
  year={2024}
}
@article{zhao2023learning,
  title={Learning fine-grained bimanual manipulation with low-cost hardware},
  author={Zhao, Tony Z and Kumar, Vikash and Levine, Sergey and Finn, Chelsea},
  journal={arXiv preprint arXiv:2304.13705},
  year={2023}
}

@article{ji2024exbody2,
  title={Exbody2: Advanced expressive humanoid whole-body control},
  author={Ji, Mazeyu and Peng, Xuanbin and Liu, Fangchen and Li, Jialong and Yang, Ge and Cheng, Xuxin and Wang, Xiaolong},
  journal={arXiv preprint arXiv:2412.13196},
  year={2024}
}

@article{darvish2023teleoperation,
  title={Teleoperation of humanoid robots: A survey},
  author={Darvish, Kourosh and Penco, Luigi and Ramos, Joao and Cisneros, Rafael and Pratt, Jerry and Yoshida, Eiichi and Ivaldi, Serena and Pucci, Daniele},
  journal={IEEE Transactions on Robotics},
  volume={39},
  number={3},
  pages={1706--1727},
  year={2023},
  publisher={IEEE}
}


@article{ze2024generalizable,
  title={Generalizable humanoid manipulation with improved 3d diffusion policies},
  author={Ze, Yanjie and Chen, Zixuan and Wang, Wenhao and Chen, Tianyi and He, Xialin and Yuan, Ying and Peng, Xue Bin and Wu, Jiajun},
  journal={arXiv preprint arXiv:2410.10803},
  year={2024}
}

@inproceedings{taylor2021learning,
  title={Learning bipedal robot locomotion from human movement},
  author={Taylor, Michael and Bashkirov, Sergey and Rico, Javier Fernandez and Toriyama, Ike and Miyada, Naoyuki and Yanagisawa, Hideki and Ishizuka, Kensaku},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={2797--2803},
  year={2021},
  organization={IEEE}
}

@article{kuindersma2016optimization,
  title={Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot},
  author={Kuindersma, Scott and Deits, Robin and Fallon, Maurice and Valenzuela, Andr{\'e}s and Dai, Hongkai and Permenter, Frank and Koolen, Twan and Marion, Pat and Tedrake, Russ},
  journal={Autonomous robots},
  volume={40},
  pages={429--455},
  year={2016},
  publisher={Springer}
}

@inproceedings{tassa2012synthesis,
  title={Synthesis and stabilization of complex behaviors through online trajectory optimization},
  author={Tassa, Yuval and Erez, Tom and Todorov, Emanuel},
  booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={4906--4913},
  year={2012},
  organization={IEEE}
}

@article{tao2021gait,
  title={Gait optimization method for humanoid robots based on parallel comprehensive learning particle swarm optimizer algorithm},
  author={Tao, Chongben and Xue, Jie and Zhang, Zufeng and Cao, Feng and Li, Chunguang and Gao, Hanwen},
  journal={Frontiers in neurorobotics},
  volume={14},
  pages={600885},
  year={2021},
  publisher={Frontiers Media SA}
}

@article{ke2021control,
  title={Control of stepping downstairs for humanoid robot based on dynamic multi-objective optimization},
  author={Ke, Wende and Bai, Yan and Li, Huazhong and Chen, Ke and Yuan, Quande},
  journal={Concurrency and Computation: Practice and Experience},
  volume={33},
  number={5},
  pages={e5999},
  year={2021},
  publisher={Wiley Online Library}
}
@article{su2020incremental,
  title={An incremental learning framework for human-like redundancy optimization of anthropomorphic manipulators},
  author={Su, Hang and Qi, Wen and Hu, Yingbai and Karimi, Hamid Reza and Ferrigno, Giancarlo and De Momi, Elena},
  journal={IEEE Transactions on Industrial Informatics},
  volume={18},
  number={3},
  pages={1864--1872},
  year={2020},
  publisher={IEEE}
}

@inproceedings{rudin2022learning,
  title={Learning to walk in minutes using massively parallel deep reinforcement learning},
  author={Rudin, Nikita and Hoeller, David and Reist, Philipp and Hutter, Marco},
  booktitle={Conference on Robot Learning},
  pages={91--100},
  year={2022},
  organization={PMLR}
}

@article{radosavovic2024real,
  title={Real-world humanoid locomotion with reinforcement learning},
  author={Radosavovic, Ilija and Xiao, Tete and Zhang, Bike and Darrell, Trevor and Malik, Jitendra and Sreenath, Koushil},
  journal={Science Robotics},
  volume={9},
  number={89},
  pages={eadi9579},
  year={2024},
  publisher={American Association for the Advancement of Science}
}

@article{kato1981realization,
  title={REALIZATION OF THE QUASI DYNAMIC WALKING BY THE BIPED WALKING MACHINE.},
  author={Kato, T and Takanishi, A and Ishikawa, H and Kato, I},
  year={1981}
}

@article{ho2020denoising,
  title={Denoising diffusion probabilistic models},
  author={Ho, Jonathan and Jain, Ajay and Abbeel, Pieter},
  journal={Advances in neural information processing systems},
  volume={33},
  pages={6840--6851},
  year={2020}
}
